#!/bin/sh
#
# @name SIH Quadcopter X
#
# @type Simulation
# @class Copter
#
# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
#
# @board px4_fmu-v2 exclude
#

. ${R}etc/init.d/rc.mc_defaults

set MIXER quad_x
set PWM_OUT 1234

param set UAVCAN_ENABLE 0

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.15
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.15
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05

param set-default HIL_ACT_FUNC1 101
param set-default HIL_ACT_FUNC2 102
param set-default HIL_ACT_FUNC3 103
param set-default HIL_ACT_FUNC4 104

# set SYS_HITL to 2 to start the SIH and avoid sensors startup
param set SYS_HITL 2

# disable some checks to allow to fly:
# - with usb
param set-default CBRK_USB_CHK 197848
# - without real battery
param set-default CBRK_SUPPLY_CHK 894281
# - without safety switch
param set-default COM_PREARM_MODE 0
param set-default CBRK_IO_SAFETY 22027

param set SIH_VEHICLE_TYPE 0
